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Fix logic in CheckStartStateBounds adapter (#3143)
* Fix logic in CheckStartStateBoundsAdapter * Explicit fallthrough * Fix switch statement and add basic test scaffolding * Remove extra variable * Fix logic and add tests for continuous joints * Validate changed start state * Appeasing our Lord and Savior clang-tidy * Update status message (cherry picked from commit f82cdcd)
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moveit_ros/planning/planning_request_adapter_plugins/res/default_request_adapter_params.yaml
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moveit_ros/planning/planning_request_adapter_plugins/test/test_check_start_state_bounds.cpp
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2024, Sebastian Castro | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
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| /* Author: Sebastian Castro */ | ||
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| #include <memory> | ||
| #include <string> | ||
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| #include <gmock/gmock.h> | ||
| #include <gtest/gtest.h> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| #include <moveit/planning_pipeline/planning_pipeline.hpp> | ||
| #include <moveit/planning_scene/planning_scene.hpp> | ||
| #include <moveit/utils/robot_model_test_utils.hpp> | ||
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| class TestCheckStartStateBounds : public testing::Test | ||
| { | ||
| protected: | ||
| void SetUp() override | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| node_ = std::make_shared<rclcpp::Node>("test_check_start_state_bounds_adapter", ""); | ||
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| // Load a robot model and place it in a planning scene. | ||
| urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2"); | ||
| srdf::ModelSharedPtr srdf_model = std::make_shared<srdf::Model>(); | ||
| planning_scene_ = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model); | ||
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| // Load the planning request adapter. | ||
| plugin_loader_ = std::make_unique<pluginlib::ClassLoader<planning_interface::PlanningRequestAdapter>>( | ||
| "moveit_core", "planning_interface::PlanningRequestAdapter"); | ||
| adapter_ = plugin_loader_->createUniqueInstance("default_planning_request_adapters/CheckStartStateBounds"); | ||
| adapter_->initialize(node_, ""); | ||
| } | ||
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| void TearDown() override | ||
| { | ||
| rclcpp::shutdown(); | ||
| } | ||
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| std::shared_ptr<rclcpp::Node> node_; | ||
| std::shared_ptr<planning_scene::PlanningScene> planning_scene_; | ||
| std::unique_ptr<pluginlib::ClassLoader<planning_interface::PlanningRequestAdapter>> plugin_loader_; | ||
| pluginlib::UniquePtr<planning_interface::PlanningRequestAdapter> adapter_; | ||
| }; | ||
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| TEST_F(TestCheckStartStateBounds, TestWithinBounds) | ||
| { | ||
| planning_interface::MotionPlanRequest request; | ||
| request.group_name = "right_arm"; | ||
| request.start_state.joint_state.name = { | ||
| "r_shoulder_pan_joint", "r_shoulder_lift_joint", "r_upper_arm_roll_joint", "r_forearm_roll_joint", | ||
| "r_elbow_flex_joint", "r_wrist_flex_joint", "r_wrist_roll_joint", | ||
| }; | ||
| request.start_state.joint_state.position = { | ||
| 0.0, 0.0, 0.0, 0.0, -0.5, -0.5, 0.0, | ||
| }; | ||
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| const auto result = adapter_->adapt(planning_scene_, request); | ||
| EXPECT_EQ(result.val, moveit_msgs::msg::MoveItErrorCodes::SUCCESS); | ||
| EXPECT_EQ(result.message, ""); | ||
| } | ||
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| TEST_F(TestCheckStartStateBounds, TestRevoluteJointOutOfBounds) | ||
| { | ||
| planning_interface::MotionPlanRequest request; | ||
| request.group_name = "right_arm"; | ||
| request.start_state.joint_state.name = { | ||
| "r_shoulder_pan_joint", "r_shoulder_lift_joint", "r_upper_arm_roll_joint", "r_forearm_roll_joint", | ||
| "r_elbow_flex_joint", "r_wrist_flex_joint", "r_wrist_roll_joint", | ||
| }; | ||
| request.start_state.joint_state.position = { | ||
| 1.0, // revolute joint out of bounds | ||
| 0.0, 0.0, 0.0, -0.5, -0.5, 0.0, | ||
| }; | ||
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| const auto result = adapter_->adapt(planning_scene_, request); | ||
| EXPECT_EQ(result.val, moveit_msgs::msg::MoveItErrorCodes::START_STATE_INVALID); | ||
| EXPECT_EQ(result.message, "Start state out of bounds."); | ||
| } | ||
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| TEST_F(TestCheckStartStateBounds, TestContinuousJointOutOfBounds) | ||
| { | ||
| planning_interface::MotionPlanRequest request; | ||
| request.group_name = "right_arm"; | ||
| request.start_state.joint_state.name = { | ||
| "r_shoulder_pan_joint", "r_shoulder_lift_joint", "r_upper_arm_roll_joint", "r_forearm_roll_joint", | ||
| "r_elbow_flex_joint", "r_wrist_flex_joint", "r_wrist_roll_joint", | ||
| }; | ||
| request.start_state.joint_state.position = { | ||
| 0.0, 0.0, 0.0, 100.0, // continuous joint out of bounds | ||
| -0.5, -0.5, 0.0, | ||
| }; | ||
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| const auto result = adapter_->adapt(planning_scene_, request); | ||
| EXPECT_EQ(result.val, moveit_msgs::msg::MoveItErrorCodes::START_STATE_INVALID); | ||
| EXPECT_EQ(result.message, "Start state out of bounds."); | ||
| } | ||
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| TEST_F(TestCheckStartStateBounds, TestContinuousJointFixedBounds) | ||
| { | ||
| planning_interface::MotionPlanRequest request; | ||
| request.group_name = "right_arm"; | ||
| request.start_state.joint_state.name = { | ||
| "r_shoulder_pan_joint", "r_shoulder_lift_joint", "r_upper_arm_roll_joint", "r_forearm_roll_joint", | ||
| "r_elbow_flex_joint", "r_wrist_flex_joint", "r_wrist_roll_joint", | ||
| }; | ||
| request.start_state.joint_state.position = { | ||
| 0.0, 0.0, 0.0, 100.0, // continuous joint out of bounds | ||
| -0.5, -0.5, 0.0, | ||
| }; | ||
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| // Modify the start state. The adapter should succeed. | ||
| node_->set_parameter(rclcpp::Parameter("fix_start_state", true)); | ||
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| const auto result = adapter_->adapt(planning_scene_, request); | ||
| EXPECT_EQ(result.val, moveit_msgs::msg::MoveItErrorCodes::SUCCESS); | ||
| EXPECT_EQ(result.message, "Normalized start state."); | ||
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| // Validate that the large continuous joint position value in the request start state was normalized. | ||
| const auto& joint_names = request.start_state.joint_state.name; | ||
| const size_t joint_idx = | ||
| std::find(joint_names.begin(), joint_names.end(), "r_forearm_roll_joint") - joint_names.begin(); | ||
| EXPECT_NEAR(request.start_state.joint_state.position[joint_idx], -0.530965, 1.0e-4); | ||
| } | ||
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| int main(int argc, char** argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |